version: 66.07
glider: 513
mission: 7
dive: 147
start: 7 27 111 14 54 4
data:
$ID,513
$MISSION,7
$DIVE,147
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,700
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,240
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-423897.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3380
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,146
$AR_SAMPLENUM,3
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,270711,143807,1934.807,-15650.930,31,1.0,31,9.6
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,13
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.7
$GPS2,270711,145308,1934.963,-15651.104,12,1.4,12,9.6
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,G2
$TGT_LATLONG,1900.000,-15645.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.032,-0.244
$KALMAN_X,-20550.8,217.6,-80.8,-262.6,-1204.3
$KALMAN_Y,44089.4,-738.8,-367.2,-67564.4,8348.4
$MHEAD_RNG_PITCHd_Wd,162.9,65627,-15.1,-8.571
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-0.78,-146.5,0.0,0.0,0,148,0.00,0.00,-113.85,0.000,2,0.000,0.000,38,1950,3818,0,0,0,0,0,0
$GC,152,-0.78,-146.5,4.1,-7.8,18,174,9.52,2.10,-2.33,0.000,4,0.245,0.054,2343,587,3963,0,0,0,0,0,0
$GC,189,-0.78,-146.5,24.6,-51.3,23,197,0.00,2.17,0.00,0.000,6,0.000,0.041,2335,1982,3965,0,0,0,0,0,0
$GC,461,-0.78,-146.5,104.7,-24.7,49,465,0.00,2.17,0.00,0.000,4,0.000,0.050,2324,3399,3966,0,0,0,0,0,0
$GC,513,-0.78,-146.5,116.3,-20.6,53,517,0.00,2.12,0.00,0.000,6,0.000,0.031,2324,1982,3966,0,0,0,0,0,0
$GC,778,-0.78,-146.5,174.2,-22.4,77,782,0.00,2.08,0.00,0.000,4,0.000,0.038,2324,587,3969,0,0,0,0,0,0
$GC,852,-0.78,-146.5,191.6,-21.0,83,860,0.08,2.15,0.00,0.000,6,0.162,0.041,2337,1990,3965,0,0,0,0,0,0
$GC,1107,-0.78,-146.5,244.6,-20.7,98,1111,0.00,2.17,0.00,0.000,4,0.000,0.048,2328,3408,3967,0,0,0,0,0,0
$GC,1197,-0.78,-146.5,261.9,-19.0,102,1201,0.00,2.12,0.00,0.000,6,0.000,0.032,2328,1988,3969,0,0,0,0,0,0
$GC,1475,-0.78,-146.5,310.4,-17.6,115,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1982,3966,0,0,0,0,0,0
$GC,1719,-0.78,-146.5,351.1,-16.4,121,1723,0.00,2.08,0.00,0.000,4,0.000,0.041,2329,585,3966,0,0,0,0,0,0
$GC,1747,-0.78,-146.5,356.0,-16.4,121,1751,0.00,2.15,0.00,0.000,6,0.000,0.041,2320,2009,3965,0,0,0,0,0,0
$GC,1996,-0.78,-146.5,398.2,-16.8,127,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2006,3963,0,0,0,0,0,0
$GC,2240,-0.78,-146.5,437.4,-16.2,133,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2009,3961,0,0,0,0,0,0
$GC,2485,-0.78,-146.5,477.6,-16.5,139,2489,0.00,2.15,-0.08,0.000,4,0.000,0.068,2311,3392,3974,0,0,0,0,0,0
$GC,2545,-0.78,-146.5,488.1,-16.2,140,2550,0.12,2.08,0.00,0.000,6,0.171,0.035,2340,1992,3974,0,0,0,0,0,0
$GC,2812,-0.78,-146.5,525.4,-13.7,147,2816,0.00,2.12,0.00,0.000,4,0.000,0.044,2341,581,3970,0,0,0,0,0,0
$GC,2829,-0.78,-146.5,527.8,-13.6,147,2833,0.00,2.12,0.00,0.000,6,0.000,0.044,2332,1991,3971,0,0,0,0,0,0
$GC,3090,-0.78,-146.5,565.9,-14.8,154,3093,0.00,2.20,0.00,0.000,4,0.000,0.053,2322,3402,3968,0,0,0,0,0,0
$GC,3162,-0.78,-146.5,576.7,-13.9,155,3166,0.00,2.10,0.00,0.000,6,0.000,0.032,2321,1979,3967,0,0,0,0,0,0
$GC,3424,-0.78,-146.5,615.5,-14.8,162,3428,0.00,2.20,0.00,0.000,4,0.000,0.051,2310,3403,3964,0,0,0,0,0,0
$GC,3445,-0.78,-146.5,619.2,-15.6,162,3449,0.12,2.10,0.00,0.000,6,0.170,0.033,2341,1988,3963,0,0,0,0,0,0
$GC,3706,-0.78,-146.5,652.5,-12.6,169,3710,0.00,2.20,0.00,0.000,4,0.000,0.055,2333,3398,3961,0,0,0,0,0,0
$GC,3745,-0.78,-146.5,657.4,-12.4,170,3749,0.00,2.10,0.00,0.000,6,0.000,0.034,2333,1990,3960,0,0,0,0,0,0
$GC,4029,-0.78,-146.5,693.0,-12.4,177,4033,0.00,2.10,0.00,0.000,4,0.000,0.045,2333,583,3960,0,0,0,0,0,0
$GC,4061,-0.78,-146.5,697.5,-12.8,177,4067,0.00,2.12,0.00,0.000,6,0.000,0.045,2323,1991,3957,0,0,0,0,0,0
$GC,4311,-0.78,-146.5,731.3,-13.6,184,4315,0.00,2.15,0.00,0.000,4,0.000,0.052,2311,3388,3955,0,0,0,0,0,0
$GC,4418,-0.78,-146.5,746.8,-15.0,186,4423,0.12,2.10,0.00,0.000,6,0.174,0.035,2343,1992,3954,0,0,0,0,0,0
$GC,4679,-0.78,-146.5,779.5,-12.4,193,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1988,3952,0,0,0,0,0,0
$GC,4922,-0.78,-146.5,807.6,-11.3,199,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1988,3950,0,0,0,0,0,0
$GC,5167,-0.78,-146.5,833.5,-10.4,205,5171,0.00,2.20,0.00,0.000,4,0.000,0.055,2336,3399,3948,0,0,0,0,0,0
$GC,5199,-0.78,-146.5,837.1,-10.8,205,5205,0.00,2.15,0.00,0.000,6,0.000,0.035,2334,1981,3947,0,0,0,0,0,0
$GC,5449,-0.78,-146.5,863.4,-10.6,212,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1976,3947,0,0,0,0,0,0
$GC,5693,-0.78,-146.5,890.5,-11.3,218,5697,0.00,2.22,0.00,0.000,4,0.000,0.053,2323,3398,3944,0,0,0,0,0,0
$GC,5738,-0.78,-146.5,895.6,-11.3,219,5742,0.00,2.12,0.00,0.000,6,0.000,0.035,2323,1983,3944,0,0,0,0,0,0
$STATE,5810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5810,begin apogee
$GC,5816,-0.28,0.0,904.7,12.1,221,5934,0.60,0.00,115.35,1.127,6,0.156,0.000,2502,1976,3382,0,0,0,0,0,0
$STATE,5937,end apogee,CONTROL_FINISHED_OK
$STATE,5937,begin climb
$GC,5940,0.78,146.5,908.1,0.0,224,6073,1.02,0.00,128.60,1.088,6,0.095,0.000,2846,1976,2782,0,0,0,0,0,0
$GC,6296,0.78,146.5,853.9,18.6,233,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1976,2774,0,0,0,0,0,0
$GC,6540,0.78,146.5,809.8,18.0,239,6544,0.00,2.17,0.00,0.000,4,0.000,0.040,2857,552,2772,0,0,0,0,0,0
$GC,6567,0.78,146.5,804.6,18.4,239,6571,0.00,2.15,0.00,0.000,6,0.000,0.036,2856,1963,2770,0,0,0,0,0,0
$GC,6818,0.78,146.5,758.5,18.6,245,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1963,2775,0,0,0,0,0,0
$GC,7061,0.78,146.5,713.0,18.8,251,7065,0.00,2.20,0.00,0.000,4,0.000,0.056,2859,3359,2768,0,0,0,0,0,0
$GC,7093,0.78,146.5,706.6,19.5,251,7098,0.00,2.12,0.00,0.000,6,0.000,0.033,2862,1948,2768,0,0,0,0,0,0
$GC,7350,0.78,146.5,658.0,19.0,258,7354,0.00,2.08,0.00,0.000,4,0.000,0.041,2873,558,2768,0,0,0,0,0,0
$GC,7394,0.78,146.5,648.7,20.8,259,7398,0.00,2.10,0.00,0.000,6,0.000,0.037,2874,1958,2765,0,0,0,0,0,0
$GC,7678,0.78,146.5,592.6,19.6,266,7682,0.00,2.22,0.00,0.000,4,0.000,0.054,2873,3371,2768,0,0,0,0,0,0
$GC,7728,0.78,146.5,582.4,20.7,267,7733,0.12,2.12,0.00,0.000,6,0.211,0.033,2856,1956,2765,0,0,0,0,0,0
$GC,8000,0.78,146.5,535.4,16.7,274,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1948,2765,0,0,0,0,0,0
$GC,8243,0.78,146.5,493.1,17.3,280,8247,0.00,2.08,0.00,0.000,4,0.000,0.041,2866,558,2764,0,0,0,0,0,0
$GC,8299,0.78,146.5,483.5,16.3,281,8303,0.00,2.15,0.00,0.000,6,0.000,0.037,2866,1969,2762,0,0,0,0,0,0
$GC,8572,0.78,146.5,437.3,17.0,288,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1970,2762,0,0,0,0,0,0
$GC,8814,0.78,146.5,396.6,16.6,294,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1970,2762,0,0,0,0,0,0
$GC,9058,0.78,146.5,358.0,15.7,300,9062,0.00,2.10,0.00,0.000,4,0.000,0.041,2876,560,2764,0,0,0,0,0,0
$GC,9119,0.78,146.5,347.8,17.4,301,9123,0.00,2.10,0.00,0.000,6,0.000,0.036,2876,1968,2760,0,0,0,0,0,0
$GC,9380,0.78,146.5,306.4,16.4,308,9384,0.00,2.10,0.00,0.000,4,0.000,0.038,2884,552,2760,0,0,0,0,0,0
$GC,9425,0.78,146.5,299.5,15.8,309,9429,0.12,2.10,0.00,0.000,6,0.206,0.034,2859,1968,2759,0,0,0,0,0,0
$GC,9691,0.78,146.5,260.7,14.5,321,9695,0.00,2.15,0.00,0.000,4,0.000,0.051,2848,3368,2759,0,0,0,0,0,0
$GC,9735,0.78,146.5,255.1,12.9,323,9740,0.00,2.10,0.00,0.000,6,0.000,0.031,2857,1955,2759,0,0,0,0,0,0
$GC,10006,0.78,146.5,226.6,10.4,336,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1952,2756,0,0,0,0,0,0
$GC,10254,0.78,146.5,197.9,12.3,348,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1952,2762,0,0,0,0,0,0
$GC,10510,0.78,146.5,166.9,11.2,372,10514,0.00,2.20,0.00,0.000,4,0.000,0.048,2854,3364,2759,0,0,0,0,0,0
$GC,10553,0.78,146.5,161.4,12.2,375,10561,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,1956,2760,0,0,0,0,0,0
$GC,10818,0.78,146.5,130.2,11.6,400,10821,0.00,2.08,0.00,0.000,4,0.000,0.038,2879,554,2760,0,0,0,0,0,0
$GC,11069,0.78,146.5,102.5,10.5,423,11073,0.00,2.10,0.00,0.000,6,0.000,0.034,2879,1965,2759,0,0,0,0,0,0
$GC,11334,0.78,146.5,76.6,9.5,447,11338,0.00,2.10,0.00,0.000,4,0.000,0.038,2889,556,2760,0,0,0,0,0,0
$GC,11525,0.78,146.5,60.4,8.7,464,11530,0.15,2.10,0.00,0.000,6,0.194,0.034,2853,1968,2760,0,0,0,0,0,0
$GC,11789,0.84,194.6,41.0,6.7,488,11830,0.00,2.22,35.35,0.509,4,0.000,0.048,2853,3358,2585,0,0,0,0,0,0
$GC,12073,0.87,217.3,15.2,7.7,529,12100,0.00,2.12,19.33,0.472,6,0.000,0.029,2862,1950,2493,0,0,0,0,0,0
$STATE,12209,end climb,SURFACE_DEPTH_REACHED
$STATE,12209,begin surface coast
$FINISH,0.3,1.023273
$STATE,12238,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12257,11.10,0.438,0,0,2401,240.14
$SM_GC,4.31,0.00,0.00,11.10,0.000,0.000,0.438,54,1952,2401,-7.96,-1.07,240.14
$IRIDIUM_FIX,1927.51,-15655.89,190113,050543
$TT8_MAMPS,0.26845
$HUMID,1078977410
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.10
$XPDR_PINGS,11
$AR_DIVENUM,147
$AR_SAMPLENUM,4
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$24V_AH,24.1,20.286
$10V_AH,10.2,19.242
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.475,110.975,298.625,11.100,0.000,29.656,34.241,618.067,2.750,0.000,16.607,1101.857,8762.020,418.542,2512.663,387.670,33.365,1174.655,0.000,1821.896,0.000,0.542,0.000
$DEVICE_MAMPS,244.673,68.263,1127.490,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,381.949,0.000,985.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353608
$DATA_FILE_SIZE,26935,559
$CAP_FILE_SIZE,119709,0
$CFSIZE,260165632,195043328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,182213,1933.675,-15651.476,138,1.5,157,9.6